Virtual reality pipe welding simulator and setup

ABSTRACT

A simulator facilitates virtual welding activity of orbital weld joints. The simulator may include a logic processor based system operable to execute coded instructions for generating an interactive welding environment that emulates welding activity on a section of virtual pipe having at least one virtual weld joint. It also includes a display connected to the logic processor based system for visually depicting the interactive welding environment, wherein the display depicts the section of virtual pipe. A pendant is provided for performing welding equipment setup and virtual welding activity on the at least one weld joint in real time where one or more sensors are adapted to track movement of the input device in real time for communicating data about the movement of the input device to the logic processor based system.

This U.S. patent application claims priority to U.S. provisional patentapplication Ser. No. 61/669,713 filed on Jul. 10, 2012, which isincorporated herein by reference in its entirety.

TECHNICAL FIELD

The present invention pertains to systems for emulating a virtualwelding environment, and more particularly to virtual weldingenvironments that emulate the welding of pipe and open root joints inreal time and the setup thereof.

BACKGROUND OF THE INVENTION

For decades companies have been teaching welding skills. Traditionally,welding has been taught in a real world setting, that is to say thatwelding has been taught by actually striking an arc with an electrode ona piece of metal. Instructors, skilled in the art, oversee the trainingprocess making corrections in some cases as the trainee performs a weld.By instruction and repetition, a new trainee learns how to weld usingone or more processes. However, costs are incurred with every weldperformed, which varies depending on the welding process being taught.

In more recent times, cost saving systems for training welders have beenemployed. Some systems incorporate a motion analyzer. The analyzerincludes a physical model of a weldment, a mock electrode and sensingmeans that track movement of the mock electrode. A report is generatedthat indicates to what extent the electrode tip traveled outside anacceptable range of motion. More advanced systems incorporate the use ofvirtual reality, which simulates manipulation of a mock electrode in avirtual setting. Similarly, these systems track position andorientation. Such systems teach only muscle memory, but cannot teach themore advanced welding skills required of a skilled welder.

BRIEF SUMMARY

The embodiments of the present invention pertain to a simulator forfacilitating virtual welding activity, including but not limited to thefollowing elements: a logic processor based subsystem operable toexecute coded instructions for generating an interactive orbital weldingenvironment that emulates welding setup and activity on a section ofvirtual pipe having at least one virtual weld joint; a displaying meansoperatively connected to the logic processor based subsystem forvisually depicting the interactive welding environment, wherein thedisplaying means depicts the section of virtual pipe; a pendant orhand-held input device for performing setup and virtual welding activityon the at least one virtual weld joint in real time; and, one or moresensors adapted to track movement of the input device in real time forcommunicating data about the movement of the input device to the logicprocessor based subsystem. The input device will emulate controls forinput selection for virtual reality welding. The logic processor basedsubsystem may further include restricting controls or interactions basedon a user to enhance learning objectives. The logic processor basedsubsystem may optionally include teaching interaction or reactions basedon visual, audible, physical changes to ensure that the user canproperly setup an orbital welding environment or can effect errorrecovery. The logic processor based subsystem often will include virtualcalculators or tables that allow input and provide an output based onentered values. The logic processor based subsystem may also includeintelligent agent-enabled results based on incorrect setup parameters orcombination of parameters. The logic processor based subsystem may alsoinclude intelligent agent-enabled input to identify the proper setupparameters or combination of parameters which should have been enteredby the user. The simulator may also include visual, audio or physicalindicators of the setup parameters or combination of parameters. Acamera-based system may be optionally added to track a path of theorbital weld. The camera system may include path-following andpath-determinative systems based upon a fuzzy logic controller-basedsystem. The simulator's logic processor based subsystem may includemultiple levels for a user, each level adapted to the skill level,learning pace and learning style of the user and artificial intelligencebased fault instruction in order to test a user's ability to detect,correct and recover from problems. Multi-language capabilities are alsoan optional aspect of the invention.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a perspective view of an end user operator engaging in virtualwelding activity with a simulator;

FIG. 2 is a front view of a simulator;

FIG. 3a is a chart showing pipe welding positions;

FIG. 3b is a chart showing plate welding positions;

FIG. 4 is an exemplary schematic block diagram of a representation of asimulator;

FIG. 5 is a side perspective view of a mock welding tool;

FIG. 6 is a close up view of welding user interface;

FIG. 6a is a close up view of an observer display device;

FIG. 7a is perspective view of a personalized display device;

FIG. 7b is perspective view of a personalized display device worn by anend user;

FIG. 7c is perspective view of a personalized display device mounted ina welding helmet;

FIG. 8 is a perspective view of a spatial tracker;

FIG. 9 is a perspective view of a stand for holding welding coupons;

FIG. 9a is a perspective view of a pipe welding coupon;

FIG. 9b is a perspective view of a pipe welding coupon mounted into thestand.

FIG. 10 illustrates an example embodiment of a subsystem block diagramof a logic processor-based subsystem;

FIG. 11 illustrates an example embodiment of a block diagram of agraphics processing unit (GPU) of the logic processor-based subsystem;

FIG. 12 illustrates an example embodiment of a functional block diagramof the simulator;

FIG. 13 is a flow chart of an embodiment of a method of training usingthe virtual reality training system;

FIGS. 14a-14b illustrate the concept of a welding pixel (wexel)displacement map;

FIG. 15 illustrates an example embodiment of a coupon space and a weldspace of a flat welding coupon simulated in the simulator;

FIG. 16 illustrates an example embodiment of a coupon space and a weldspace of a corner welding coupon simulated in the simulator;

FIG. 17 illustrates an example embodiment of a coupon space and a weldspace of a pipe welding coupon simulated in the simulator;

FIG. 18 illustrates an example embodiment of the pipe welding coupon;

FIGS. 19a-19c illustrate an example embodiment of the concept of adual-displacement puddle model of the simulator; and

FIG. 20 illustrates an example embodiment of an orbital welding systemas used in an orbital welding environment;

FIG. 21 illustrates a welding tractor for use with the orbital weldingsystem of FIG. 20;

FIG. 22 illustrates a power source and controller of the orbital weldingsystem of FIG. 20; and

FIG. 23 illustrates a pendant for use with the orbital welding system ofFIG. 20.

DETAILED DESCRIPTION OF THE INVENTION

Referring now to the drawings wherein the showings are for purposes ofillustrating embodiments of the invention only and not for purposes oflimiting the same, FIGS. 1 and 2 show a system for simulating weldingdepicted generally at 10, termed herein as simulator 10 or system 10.Simulator 10 is capable of generating a virtual environment 15, whichmay depict a welding setting similar to that in the real world, and maybe known as virtual reality arc welding (VRAW). Within the virtualenvironment 15, simulator 10 facilitates interaction with one or moreend user(s) 12. An input device 155 is included that allows an end user12 to engage in real-world activity, which is tracked by the simulator10 and translated into virtual activity. The virtual environment 15 thuscomprises an interactive virtual welding environment 15. A displayingdevice 200 is included that provides visual access into the virtualenvironment 15 and the end user's 12 activity. In one embodiment,simulator 10 may include a display screen 150 viewable by a plurality ofend users 12 or other observers. Additionally, simulator 10 may includea personalized display 140 adapted for use by a single end user 12,which may be a trainee user 12 a or an instructor user 12 b. It isexpressly noted here that the end user's 12 activity in the real worldis translated into virtual welding activity and viewed on one or moredisplays 140, 150 in real-time. As used herein, the term “real-time”means perceiving and experiencing, in time, a virtual environment in thesame way that an end user 12 would perceive and experience, in time, ina real-world setting.

In generating an interactive virtual welding environment 15, simulator10 emulates one or more welding processes for a plurality of weld jointsin different welding positions, and additionally emulates the effects ofdifferent kinds of electrodes for the plurality of joint configurations.In one particular embodiment, simulator 10 generates an interactivevirtual welding environment 15 that emulates pipe welding and/or weldingof open root joints. The system is capable of simulating a weld puddlehaving real-time molten metal fluidity and heat dissipationcharacteristics. The simulator 10 is also capable of modeling howvirtual welding activity affects the weld joint, e.g. the underlyingbase material. Illustratively, simulator 10 may emulate welding a rootpass and a hot pass, as well as subsequent filler and cap passes, eachwith characteristics paralleling real-world scenarios. Each subsequentpass may weld significantly different from that of the previous pass asa result of changes in the base material made during the previous passand/or as a result of a differently selected electrode. Real-timefeedback of the puddle modeling allows the end user 12 to observe thevirtual welding process on the display 200 and adjust or maintainhis/her technique as the virtual weld is being performed. Examples ofthe kinds of virtual indicators observed may include: flow of the weldpuddle, shimmer of molten puddle, changes in color during puddlesolidification, freeze rate of the puddle, color gradients of heatdissipation, sound, bead formation, weave pattern, formation of slag,undercut, porosity, spatter, slag entrapment, overfill, blowthrough, andocclusions to name a few. It is to be realized that the puddlecharacteristics are dependent upon, that is to say responsive to, theend user's 12 movement of the input device 155. In this manner, thedisplayed weld puddle is representative of a real-world weld puddleformed in real-time based on the selected welding process and on the enduser's 12 welding technique. Furthermore, “wagon tracks” is the visualtrail of weld defects and slag left behind in the toes of the root passmade during pipe welding using the SMAW process. The second pass in pipewelding, called the hot pass, must be hot enough to remelt the wagontracks so they are eliminated in the final weldment. Also, wagon tracksmay be removed by a grinding process. Such wagon tracks and eliminationof the wagon tracks are properly simulated in the simulator 10 describedherein, in accordance with an embodiment of the present invention.

With continued reference to FIGS. 1 and 2 and now also to FIGS. 3a and3b , simulator 10 may emulate welding processes in various weldingpositions and models how the weld puddle reacts in each position. Morespecifically, simulator 10 may emulate pipe welding in vertical,horizontal and/or inclined positions referred to in the art respectivelyas the 5G, 2G and 6G positions. Additionally, simulator 10 may emulatewelding in a 1G position which relates to the rotating horizontalposition of the pipe, or in a 4G position which relates to weldingoverhead as may be associated with a groove weld in abutting plates.Other welding positions may relate to the welding of open root jointsfor various configurations of flat plate. It is to be understood thatthe simulator 10, including a modeling and analysis engine to bedescribed in detail in subsequent paragraphs, takes into account theeffects of gravity on the weld puddle. Accordingly, the weld puddlereacts differently, for example, for a welding pipe in a 5G positionfrom that of a 6G position. The examples above are not to be construedas limiting, but are included for illustrative purposes. Those skilledin the art will readily understand its application to any weld joint,welding position, or type of weldment including different kinds of basematerial.

With reference now to FIGS. 2 and 4, simulator 10 includes a logicprocessor-based subsystem 110, which may be programmable and operable toexecute coded instructions for generating the interactive virtualwelding environment 15. Simulator 10 further includes sensors and/orsensor systems, which may be comprised of a spatial tracker 120,operatively connected to the logic processor-based subsystem 110.Simulator 10 also includes a welding user interface 130 in communicationwith the logic processor-based subsystem 110 for set up and control ofthe simulator 10. As referenced above, displaying device(s) 200 areincluded, which may comprise a face-mounted display device 140 and anobserver display device 150 each connected to the logic processor-basedsubsystem 110 providing visual access to the interactive virtual weldingenvironment 15. One or more of the displaying devices 200 may beconnected to the spatial tracker 120 for changing the images viewed onthe device in response to its position and/or movement thereof, asdescribed below.

Input Device

With reference now to FIG. 5, as mentioned above, simulator 10 includesan input device 155 that facilitates interaction with the end-user 12.In one embodiment, input device 155 comprises a mock welding tool 160.The mock welding tool 160 may be fashioned to resemble a real-worldwelding tool, like for example, a manual welding electrode holder or aweld gun delivering a continuous feed to electrode, i.e. MIG, FCAW, orGTAW welding tools. Still, other configurations of the mock welding tool160 may be implemented without departing from the intended scope ofcoverage of the embodiments of the subject invention. For discussionpurposes, the embodiments of the subject invention will be described inthe context of using a mock welding tool 160 that resembles a manualwelding electrode holder 156. The mock welding tool 160 may closelyresemble a real world welding tool. In one particular embodiment, mockwelding tool 160 may have the same shape, weight and feel as areal-world welding tool. In fact, a real welding tool could be used asthe mock welding tool 160 to provide the actual feel of the tool in theuser's hands, even though, in the simulator 10, the real welding toolwould not be used to actually create a real arc. In this manner,end-user 12, which may be a trainee user 12 a, becomes accustomed tohandling a real-world welding tool thereby enhancing the virtual weldingexperience. However, the mock welding tool 160 may be constructed in anymanner chosen with sound judgment.

Illustratively, mock welding tool 160 simulates a stick welding tool forpipe welding and includes a holder 161 and a simulated stick electrode162 extending therefrom. The simulated stick electrode 162 may include atactilely resistive tip 163 to simulate resistive feedback that occursduring welding in a real-world setting. If the end user 12 moves thesimulated stick electrode 162 too far back out of the root (described indetail below), the end user 12 will be able to feel or sense the reducedresistance thereby deriving feedback for use in adjusting or maintainingthe current welding process. It is contemplated that the stick weldingtool may incorporate an actuator, not shown, that withdraws thesimulated stick electrode 162 during the virtual welding process. Thatis to say that as end user 12 engages in virtual welding activity, thedistance between holder 161 and the tip of the simulated stick electrode162 is reduced to simulate consumption of the electrode. The consumptionrate, i.e. withdrawal of the stick electrode 162, may be controlled bythe logic processor-based subsystem 110 and more specifically by codedinstructions executed by the logic processor-based subsystem 110. Thesimulated consumption rate may also depend on the end user's 12technique. It is noteworthy to mention here that as simulator 10facilitates virtual welding with different types of electrodes, theconsumption rate or reduction of the stick electrode 162 may change withthe welding procedure used and/or setup of the simulator 10.

The actuator of the mock welding tool 160 may be electrically driven.Power for engaging the actuator may come from the simulator 10, from anexternal power source or from internal battery power. In one embodiment,the actuator may be an electromotive device, such as an electric motor.Still, any type of actuator or form of motive force may be usedincluding, but not limited to: electromagnetic actuators, pneumaticactuators, mechanical or spring-loaded actuators, in any combinationthereof.

As indicated above, the mock welding tool 160 may work in conjunctionwith the spatial tracker for interacting with the simulator 10. Inparticular, the position and/or orientation of mock welding tool 160 maybe monitored and tracked by the spatial tracker 120 in real time. Datarepresenting the position and orientation may therefore be communicatedto the logic processor-based subsystem 110 and modified or converted foruse as required for interacting with the virtual welding environment 15.

Spatial Tracker

Referencing FIG. 8, an example of a spatial tracker 120 is illustrated.Spatial tracker 120 may interface with the logic processor-basedsubsystem 110. In one embodiment, the spatial tracker 120 may track themock welding tool 160 magnetically. That is to say that the spatialtracker generates a magnetic envelope, which is used to determineposition and orientation, as well as speed and/or changes in speed.Accordingly, the spatial tracker 120 includes a magnetic source 121 andsource cable, one or more sensors 122, host software on disk 123, apower source 124, USB and RS-232 cables 125, a processor tracking unit126, and other associated cables. The magnetic source 121 is capable ofbeing operatively connected to the processor tracking unit 126 viacables, as is sensor 122. The power source 124 is also capable of beingoperatively connected to the processor tracking unit 126 via a cable.The processor tracking unit 126 is capable of being operativelyconnected to the logic processor-based subsystem 110 via a USB or RS-232cable 125. The host software on disk 123 may be loaded onto the logicprocessor-based subsystem 110 and allows functional communicationbetween the spatial tracker 120 and the logic processor-based subsystem110.

The magnetic source 121 creates a magnetic field, or envelope,surrounding the source 121 defining a three dimensional space withinwhich end user 12 activity may be tracked for interacting with thesimulator 10. The envelope establishes a spatial frame of reference.Objects used within the envelope, e.g. mock welding tool 160 and couponstand (described below), may be comprised of non-metallic, i.e.non-ferric and non-conductive, material so as not to distort themagnetic field created by the magnetic source 121. The sensor 122 mayinclude multiple induction coils aligned in crossing spatial directions,which may be substantially orthogonally aligned. The induction coilsmeasure the strength of the magnetic field in each of the threedirections providing information to the processor tracking unit 126. Inone embodiment, the sensor 122 may be attached to the mock welding tool160 allowing the mock welding tool 160 to be tracked with respect to thespatial frame of reference in both position and orientation. Morespecifically, the induction coils may be mounted in the tip of theelectrode 162. In this way, simulator 10 is able to determine wherewithin the three dimensional envelope the mock welding tool 160 ispositioned. Additional sensors 122 may be provided and operativelyattached to the one or more displaying devices 200. Accordingly,simulator 10 may use sensor data to change the view seen by the end user12 responsive to the end user's 12 movements. As such, the simulator 10captures and tracks the end user's 12 activity in the real world fortranslation into the virtual welding environment 15.

In accordance with an alternative embodiment of the present invention,the sensor(s) 122 may wirelessly interface to the processor trackingunit 126, and the processor tracking unit 126 may wirelessly interfaceto the logic processor-based subsystem 110. In accordance with otheralternative embodiments of the present invention, other types of spatialtrackers 120 may be used in the simulator 10 including, for example, anaccelerometer/gyroscope-based tracker, an optical tracker, an infraredtracker, an acoustic tracker, a laser tracker, a radio frequencytracker, an inertial tracker, an active or passive optical tracker, andaugmented reality based tracking. Still, other types of trackers may beused without departing from the intended scope of coverage of theembodiment of the subject invention.

Displaying Device

With reference now to FIG. 7a , an example of the face-mounted displaydevice 140 will now be described. The face mounted display device 140may be integrated into a welding helmet 900, as shown in FIG. 7c oralternatively may be separately mounted as shown in FIG. 7b . The facemounted display device 140 may include two high-contrast SVGA 3D OLEDmicro-displays capable of delivering fluid full-motion video in the 2Dand frame sequential video modes. Virtual images, e.g. video, from thevirtual welding environment 15 is provided and displayed on the facemounted display device 140. In one embodiment of the subject invention,the logic processor-based subsystem 110 provides stereoscopic video tothe face mounted display device 140, enhancing the depth perception ofthe user. Stereoscopic images may be produced by a logic processingunit, which may be a graphics processing unit described in detail below.A zoom, e.g., 2×, mode may also be provided, allowing a user to simulatea cheater plate. The face mounted display device 140 operativelyconnects to the logic processor-based subsystem 110 and the spatialtracker 120 via wired or wireless means. A sensor 122 of the spatialtracker 120 may be attached to the face mounted display device 140 or tothe welding helmet 900 thereby allowing the face mounted display device140 to be tracked with respect to the 3D spatial frame of referencecreated by the spatial tracker 120. In this way, movement of the weldinghelmet 900 responsively alters the image seen by the end user 12 in athree dimensional virtual reality setting.

The face mounted display device 140 may also function to call up anddisplay menu items similar to that of observer display device 150, assubsequently described. In this manner, an end user is therefore able touse a control on the mock welding tool 160 (e.g., a button or switch) toactivate and select options from the menu. This may allow the user toeasily reset a weld if he makes a mistake, change certain parameters, orback up to re-do a portion of a weld bead trajectory, for example.

The face mounted display device 140 may further include speakers 910,allowing the user to hear simulated welding-related and environmentalsounds produced by the simulator 10. Sound content functionality andwelding sounds provide particular types of welding sounds that changedepending on if certain welding parameters are within tolerance or outof tolerance. Sounds are tailored to the various welding processes andparameters. For example, in a MIG spray arc welding process, a cracklingsound is provided when the user does not have the mock welding tool 160positioned correctly, and a hissing sound is provided when the mockwelding tool 160 is positioned correctly. In a short arc weldingprocess, a hissing sound is provided when undercutting is occurring.These sounds mimic real world sounds corresponding to correct andincorrect welding technique.

High fidelity sound content may be taken from real world recordings ofactual welding using a variety of electronic and mechanical means. Theperceived volume and direction of the sound is modified depending on theposition, orientation, and distance of the end user's head, i.e. theface mounted display device 140, with respect to the simulated arcbetween the mock welding tool 160 and the welding coupon 175. Sound maybe provided to the user via speakers 910, which may be earbud speakersor any other type of speakers or sound generating device, mounted in theface mounted display device 140 or alternatively mounted in the console135 and/or stand 170. Still, any manner of presenting sound to the enduser 12 while engaging in virtual welding activity may be chosen. It isalso noted here that other types of sound information may becommunicated through the speakers 910. Examples include verbalinstructions from the instructor user 12 b, in either real time or viaprerecorded messages. Prerecorded messages may be automaticallytriggered by particular virtual welding activity. Real time instructionsmay be generated on site or from a remote location. Still, any type ofmessage or instruction may be conveyed to end user 12.

Console

With reference now to FIGS. 2, 6 and 7, the simulator 10 may include aconsole 135 housing one or more components of the simulator 10. In oneembodiment, the console 135 may be constructed to resemble a weldingpower source. That is to say that the shape and size of the console 135may match that of a real-world device. Operation of the simulator 10 maybe facilitated by a welding unit interface 130, which may be fashionedto resemble welding power source knobs, dials and/or switches 133, 134.Simulator 10 may further include a display, which may be displayingdevice 200. Coded instructions, i.e. software, installed onto thesimulator 10 may direct the end user's 12 interaction with the simulator10 by displaying instructions and/or menu options on the display screen200. Interaction with the simulator 10 may include functions relatingto: administrative activity or simulation set up and activation. Thismay include selection of a particular welding process and electrodetype, as well as part set up including welding position. Selections madeby way of welding unit interface 130 are reflected on the displayingdevice 200.

FIG. 6 illustrates an exemplary embodiment of the console 135 andwelding user interface 130. The welding unit interface 130 may include aset of buttons 131 corresponding to the user selections 153 used duringset up and operation of the simulator 10. The buttons 131 may be coloredto correspond to colors of the user selections 153 displayed ondisplaying device 200. When one of the buttons 131 is pressed, a signalis sent to the logic processor-based subsystem 110 to activate thecorresponding function. The welding unit interface 130 may also includea joystick 132 capable of being used by a user to select variousparameters and selections displayed on the displaying device 200. Thewelding unit interface 130 further includes a dial or knob 133, which inan exemplary manner, may be used for adjusting wire feed speed/amps, andanother dial or knob 134 for adjusting volts/trim. The welding unitinterface 130 also includes a dial or knob 136 for selecting an arcwelding process. In accordance with an embodiment of the presentinvention, three arc welding processes are selectable including fluxcored arc welding (FCAW), gas metal arc welding (GMAW), and shieldedmetal arc welding (SMAW). The welding unit interface 130 furtherincludes a dial or knob 137 for selecting a welding polarity. Inaccordance with an embodiment of the present invention, three arcwelding polarities are selectable including alternating current (AC),positive direct current (DC+), and negative direct current (DC−). Still,other welding processes and set up features may be incorporated in thesimulator 10 without departing from the intended scope of coverage ofthe embodiments of the subject invention, including but not limited toTIG welding. From the aforementioned, it will be readily seen that setup of the simulator 10 parallels set up of a real-world device.

The graphical user interface functionality 1213 (see FIG. 12) allows auser, viewable via the observer display device 150 and using thejoystick 132 of the physical user interface 130, to set up a weldingscenario. The set up of a welding scenario may include selecting alanguage, entering an end user name, selecting a practice plate (e.g. awelding coupon, T-plate, flat plate), selecting a welding process (e.g.,FCAW, GMAW, SMAW, TIG) and associated axial spray, pulse, or short arcmode of transfer, selecting a gas type and flow rate, selecting a typeof stick electrode (e.g., E6010 or E7018), and selecting a type of fluxcored wire (e.g., self-shielded, gas-shielded). The set up of a weldingscenario may also include setting up a coupon stand 170 to be discussedin detail below. The set up of a welding scenario further includesselecting an environment (e.g., a background environment in virtualreality space), setting a wire feed speed, setting a voltage level,selecting a polarity, and turning particular visual cues on or off. Itis noted here that in one embodiment, limitations may be incorporatedinto the simulator 10, which may be software limitations, that preventoperation of a given welding scenario until the appropriate settings fora selected process have been properly entered. In this way, traineeusers 12 a are taught or learn the proper range of real-world weldingsettings by setting up virtual welding scenarios.

Accordingly, displaying device 200 reflects activity corresponding tothe end user selections 153 including menu, actions, visual cues, newcoupon set up, and scoring. These user selections may be tied to userbuttons on the console 135. As a user makes various selections viadisplaying device 200, the displayed characteristics can change toprovide selected information and other options to the user. However, thedisplaying device 200, which may be an observer display device 150, mayhave another function, which is to display virtual images seen by theend user 12 during operation of the simulator 10, i.e. while engaging invirtual welding activity. Displaying device 200 may be set up to viewthe same image as seen by the end user 12. Alternatively, displayingdevice 200 may also be used to display a different view, or differentperspective of the virtual welding activity.

In one embodiment, displaying device 150, 200 may be used to play backvirtual welding activity stored electronically on data storage devices300, shown in FIG. 10. Data representing the end user's 12 virtualwelding activity may be stored for: playback and review, downloaded forarchiving purposes and/or transmitted to remote locations for viewingand critiquing in real-time. In replaying the virtual welding activity,details such as weld puddle fluidity, travel speed, as well asdiscontinuity states 152 including, for example, improper fillet size,poor bead placement, concave bead, excessive convexity, undercut,porosity, incomplete fusion, slag entrapment, excess spatter, andburn-through, may be represented. Undercut may also be displayed, whichis the result of an out of tolerance angle. Moreover, porosity may bedisplayed caused by moving the arc too far away from the weldment. Inthis manner, the simulator 10 is capable of replaying part or all ofparticular virtual welding activity, modeling all aspects of the virtualwelding scenario including occlusions and defects related directly tothe end user's activity.

Referencing FIG. 6a , simulator 10 is also capable of analyzing anddisplaying the results of virtual welding activity. By analyzing theresults, it is meant that simulator 10 is capable of determining whenduring the welding pass and where along the weld joints, the end user 12deviated from the acceptable limits of the welding process. A score maybe attributed to the end user's 12 performance. In one embodiment, thescore may be a function of deviation in position, orientation and speedof the mock welding tool 160 through ranges of tolerances, which mayextend from an ideal welding pass to marginal or unacceptable weldingactivity. Any gradient of ranges may be incorporated into the simulator10 as chosen for scoring the end user's 12 performance. Scoring may bedisplayed numerically or alpha-numerically. Additionally, the end user's12 performance may be displayed graphically showing, in time and/orposition along the weld joint, how closely the mock welding tooltraversed the weld joint. Parameters such as travel angle, work angle,speed, and distance from the weld joint are examples of what may bemeasured, although any parameters may be analyzed for scoring purposes.The tolerance ranges of the parameters are taken from real-world weldingdata, thereby providing accurate feedback as to how the end user willperform in the real world. In another embodiment, analysis of thedefects corresponding to the end user's 12 performance may also beincorporated and displayed on the displaying device 150, 200. In thisembodiment, a graph may be depicted indicating what type ofdiscontinuity resulted from measuring the various parameters monitoredduring the virtual welding activity. While occlusions may not be visibleon the displaying device 200, defects may still have occurred as aresult of the end user's 12 performance, the results of which may stillbe correspondingly displayed, i.e. graphed.

Displaying device 200 may also be used to display tutorial informationused to train an end user 12. Examples of tutorial information mayinclude instructions, which may be displayed graphically as depicted byvideo or pictures. Additionally, instructions may be written orpresented in audio format, mentioned above. Such information may bestored and maintained on the data storage devices 300. In oneembodiment, simulator 10 is capable of displaying virtual welding scenesshowing various welding parameters 151 including position, tip to work,weld angle, travel angle, and travel speed, termed herein as visualcues.

In one embodiment, remote communications may be used to provide virtualinstruction by offsite personnel, i.e. remote users, working fromsimilarly or dissimilarly constructed devices, i.e. simulators.Portraying a virtual welding process may be accomplished via a networkconnection including but not limited to the internet, LANs, and othermeans of data transmission. Data representing a particular weld(including performance variables) may be sent to another system capableof displaying the virtual image and/or weld data. It should be notedthat the transmitted data is sufficiently detailed for allowing remoteuser(s) to analyze the welder's performance. Data sent to a remotesystem may be used to generate a virtual welding environment therebyrecreating a particular welding process. Still, any way of communicatingperformance data or virtual welding activity to another device may beimplemented without departing from the intended scope of coverage of theembodiments of the subject invention.

Welding Coupon

With reference now to FIGS. 1, 9 a and 9 b, simulator 10 may include awelding coupon 175 that resembles pipe sections juxtaposed to form awelding joint 176. The welding coupon 175 may work in conjunction withthe simulator 10 serving as a guide for the end user 12 while engagingin virtual welding activity. A plurality of welding coupons 175 may beused, that is to say interchanged for use in a given cycle of virtualwelding activity. The types of welding coupons may include cylindricalpipe sections, arcuate pipe segments, flat plate and T-plate weldjoints, just to name a few. In one embodiment, each of the weldingcoupons may incorporate open root joints or grooves. However, anyconfigurations of weld joints may be incorporated into a welding couponwithout departing from the intended scope of coverage of the embodimentsof the subject invention.

The dimensions of welding coupons 175 may vary. For cylindrical pipe,the range of inside diameters may extend from 1½ inches (insidediameter) to 18 inches (inside diameter). In one particular embodiment,the range of inside diameters may exceed 18 inches. In anotherembodiment, arcuate pipe segments may have a characteristic radius inthe range extending from 1½ inches (inside diameter) up to and exceeding18 inches (inside diameter). Furthermore, it is to be construed that anyinside diameter of welding coupon 175 may be utilized, both thosesmaller than 1½ inches and those exceeding 18 inches. In a practicalsense, any size of welding coupon 175 can be used as long as the weldingcoupon 175, or a portion of the welding coupon 175, fits within theenvelope generated by the spatial tracker 120. Flat plate may extend upto and exceed 18 inches in length as well. Still, it is to be understoodthat the upper dimensional limits of a welding coupon 175 areconstrained only by the size and strength of the sensing field generatedby the spatial tracker 120 and its ability to be positioned respectiveof the welding coupon 175. All such variations are to be construed asfalling within the scope of coverage of the embodiments of the subjectinvention.

As mentioned above, the welding coupon 175 may be constructed from amaterial that does not interfere with the spatial tracker 120. Forspatial trackers generating a magnetic field, the welding coupon 175 maybe constructed from non-ferrous and non-conductive material. However,any type of material may be chosen that is suitable for use with thetype of spatial tracker 120 or other sensors selected.

Referencing FIGS. 9a and 9b , the welding coupon 175 may be constructedso that it fits into a table or stand 170, which functions (at least inpart) to hold the welding coupon 175 constant with respect to thespatial tracker 120. Accordingly, the welding coupon 175 may include aconnecting portion 177 or connector 177. The connecting portion 177 mayextend from one side of the welding coupon 175, which as illustrated maybe the bottom side, and may be received into a mechanical interlockingdevice included with the stand 170. It will be appreciated that theorientation at which the welding coupon 175 is inserted into the stand170 may need to be constant, i.e. repeatable, for closely matching thevirtual weldment, i.e. pipe, created within the virtual weldingenvironment 15. In this manner, as long as the simulator 10 is aware ofhow the position of the welding coupon 175 has changed, adjustments tothe virtual counterpart may be made accordingly. For example, during setup, the end user 12 may select the size of pipe to be welded on. The enduser 12 may then insert the appropriate welding coupon 175 into thestand 170, locking it into position. Subsequently, the end user 12 maychoose a desired welding position making the selection via the weldinguser interface 130. As will be described below, the stand 170 may thenbe tilted or adjusted to position the welding coupon 175 in any of thewelding positions recognized by the simulator 10. Of course, it will beappreciated that adjusting the position of the welding coupon 175 alsoadjusts the position of the spatial tracker 120 thereby preserving therelative position of the welding coupon 175 within the sensory trackingfield.

FIG. 9 depicts one embodiment of the stand 170. The stand 170 mayinclude an adjustable table 171, a stand base 172, an adjustable arm173, and a vertical post 174. The table 171 and the arm 173 arerespectively attached to the vertical post 174. The table 171 and thearm 173 are each capable of being adjusted along the height of thevertical post 174, which may include upward, downward, and/or rotationalmovement with respect to the vertical post 174. The arm 173 is used tohold the welding coupon 175, in a manner consistent with that discussedherein. The table 171 may assist the end user 12 by allowing his/herarms to rest on the table 171 during use. In one particular embodiment,the vertical post 174 is indexed with position information such that auser may know exactly where the arm 173 and the table 171 arepositioned. This information may also be entered into the simulator 10by way of the welding user interface 130 and the displaying device 150during set up.

An alternative embodiment of the subject invention is contemplatedwherein the positions of the table 171 and the arm 173 are automaticallyadjusted responsive to selections made during set up of the simulator10. In this embodiment, selections made via the welding user interface130 may be communicated to the logic processor-based subsystem 110.Actuators and feedback sensors employed by the stand 170 may becontrolled by the logic processor-based subsystem 110 for positioningthe welding coupon 175 without physically moving the arm 173 or thetable 171. In one embodiment, the actuators and feedback sensors maycomprise electrically driven servomotors. However, any locomotive devicemay be used to automatically adjust the position of the stand 170 aschosen with sound engineering judgment. In this manner, the process ofsetting up the welding coupon 175 is automated and does not requiremanual adjustment by the end user 12.

Another embodiment of the subject invention includes the use ofintelligence devices used in conjunction with the welding coupon 175,termed herein as “smart” coupons 175. In this embodiment, the weldingcoupon 175 includes a device having information about that particularwelding coupon 175 that may be sensed by the stand 170. In particular,the arm 173 may include detectors that read data stored on or within thedevice located on the welding coupon 175. Examples may include the useof digital data encoded on a sensor, e.g. micro-electronic device, thatmay be read wirelessly when brought into proximity of the detectors.Other examples may include the use of passive devices like bar coding.Still any manner of intelligently communicating information about thewelding coupon 175 to the logic processor-based subsystem 110 may bechosen with sound engineering judgment.

The data stored on the welding coupon 175 may automatically indicate, tothe simulator 10, the kind of welding coupon 175 that has been insertedin the stand 170. For example, a 2-inch pipe coupon may includeinformation related to its diameter. Alternatively, a flat plate couponmay include information that indicates the kind of weld joint includedon the coupon, e.g. groove weld joint or a butt weld joint, as well asits physical dimensions. In this manner, information about the weldingcoupon 175 may be used to automate that portion of the setup of thesimulator 10 related to selecting and installing a welding coupon 175.

Calibration functionality 1208 (see FIG. 12) provides the capability tomatch up physical components in real world space (3D frame of reference)with visual components in the virtual welding environment 15. Eachdifferent type of welding coupon 175 is calibrated in the factory bymounting the welding coupon 175 to the arm 173 of the stand 170 andtouching the welding coupon 175 at predefined points 179 (indicated by,for example, three dimples 179 on the welding coupon 175) with acalibration stylus operatively connected to the stand 170. The simulator10 reads the magnetic field intensities at the predefined points 179,provides position information to the logic processor-based subsystem110, and the logic processor-based subsystem 110 uses the positioninformation to perform the calibration (i.e., the translation from realworld space to virtual reality space).

Any part of the same type of welding coupon 175, accordingly, fits intothe arm 173 of the stand 170 in the same repeatable way to within verytight tolerances. Therefore, once a particular type welding coupon 175is calibrated, repeated calibration of similar coupons is not necessary,i.e. calibration of a particular type of welding coupon 175 is aone-time event. Stated differently, welding coupons 175 of the same typeare interchangeable. Calibration ensures that physical feedbackperceived by the user during a welding process matches up with what isdisplayed to the user in virtual reality space, making the simulationseem more real. For example, if the user slides the tip of a mockwelding tool 160 around the corner of an actual welding coupon 175, theuser will see the tip sliding around the corner of the virtual weldingcoupon on the displaying device 200 as the user feels the tip slidingaround the actual corner. In accordance with an embodiment of thepresent invention, the mock welding tool 160 may also be placed in apre-positioned jig and calibrated in a similar manner, based on theknown jig position.

In accordance with another embodiment of the subject invention, “smart”coupons may include sensors that allow the simulator 10 to track thepre-defined calibration point, or corners of the “smart” coupon. Thesensors may be mounted on the welding coupon 175 at the precise locationof the predefined calibration points. However, any manner ofcommunicating calibration data to the simulator 10 may be chosen.Accordingly, the simulator 10 continuously knows where the “smart”coupon is in real world 3D space. Furthermore, licensing keys may beprovided to “unlock” welding coupons 175. When a particular weldingcoupon 175 is purchased, a licensing key may be provided that allows theend user 12 a, 12 b to enter the licensing key into the simulator 10,unlocking the software associated with that particular welding coupon175. In an alternative embodiment, special non-standard welding couponsmay be provided based on real-world CAD drawings of parts.

Processor-Based System

With reference now to FIGS. 2, 4 and 10, as mentioned above, simulator10 includes a logic processor-based subsystem 110, which may compriseprogrammable electronic circuitry 200 for executing coded instructionsused to generate the virtual welding environment 15. The programmableelectronic circuitry 200 may include one or more logic processors 203 orlogic processor-based systems 203, which may be comprised of one or moremicroprocessors 204. In one particular embodiment, the programmableelectronic circuitry 200 may be comprised of central processing unit(s)(CPU) and graphics processing unit(s) (GPU), to be discussed furtherbelow. Additional circuitry may be included, like for example electronicmemory, i.e. RAM, ROM, as well as other peripheral support circuitry. Itis noted that electronic memory may be included for both the CPU and theGPU, each of which may be separately programmable for use in renderingaspects of the virtual welding environment 15 as described herein.Moreover, the programmable electronic circuitry 200 may include andutilize data storage devices 300 such as hard disk drives, opticalstorage devices, flash memory and the like. Still other types ofelectronic circuitry may be included that facilitate the transfer ofdata between devices within the simulator 10 or between differentsimulators 10. This may include, for example, receiving data from one ormore input devices 155, e.g. spatial tracker or sensor, or transferringdata over one or more networks which may be a local area networks (LAN),a wide area network (WAN) and/or Internet. It is to be understood thatthe aforementioned devices and processes are exemplary in nature andshould not be construed as limiting. In fact, any form of programmablecircuitry, support circuitry, communication circuitry and/or datastorage may be incorporated into the embodiments of the subjectinvention as chosen with sound engineering judgment.

FIG. 10 illustrates an example embodiment of a subsystem block diagramof the logic processor-based subsystem 110 of the simulator 10. Thelogic processor-based subsystem 110 may include a central processingunit (CPU) 111 and two graphics processing units (GPU) 115. The two GPUs115 may be programmed to provide virtual reality simulation of a weldpuddle having real-time molten metal fluidity and heat absorption anddissipation characteristics.

With reference to FIG. 11, a block diagram of the graphics processingunit (GPU) 115 is shown. Each GPU 115 supports the implementation ofdata parallel algorithms. In accordance with an embodiment of thepresent invention, each GPU 115 provides two video outputs 118 and 119capable of providing two virtual reality views. Two of the video outputsmay be routed to the face-mounted display device 140, rendering thewelder's point of view, and a third video output may be routed to theobserver display device 150, for example, rendering either the welder'spoint of view or some other point of view. The remaining fourth videooutput may be routed to a projector, for example, or used for any otherpurpose suitable for simulating a virtual welding environment 15. BothGPUs 115 may perform the same welding physics computations but mayrender the virtual welding environment 15 from the same or differentpoints of view. The GPU 115 includes a computed unified devicearchitecture (CUDA) 116 and a shader 117. The CUDA 116 is the computingengine of the GPU 115 which is accessible to software developers throughindustry standard programming languages. The CU DA 116 includes parallelcores and is used to run the physics model of the weld puddle simulationdescribed herein. The CPU 111 provides real-time welding input data tothe CUDA 116 on the GPU 115. In one particular embodiment, the shader117 is responsible for drawing and applying all of the visuals of thesimulation. Bead and puddle visuals are driven by the state of a wexeldisplacement map which is described later herein. In accordance with anembodiment of the present invention, the physics model runs and updatesat a rate of about 30 times per second.

FIG. 12 illustrates an example embodiment of a functional block diagramof the simulator 10. The various functional blocks of the simulator 10may be implemented largely via software instructions and modules runningon the logic processor-based subsystem 110. The various functionalblocks of the simulator 10 include a physical interface 1201, torch andclamp models 1202, environment models 1203, sound content functionality1204, welding sounds 1205, stand/table model 1206, internal architecturefunctionality 1207, calibration functionality 1208, coupon models 1210,welding physics 1211, internal physics adjustment tool (tweaker) 1212,graphical user interface functionality 1213, graphing functionality1214, student reports functionality 1215, renderer 1216, bead rendering1217, 3D textures 1218, visual cues functionality 1219, scoring andtolerance functionality 1220, tolerance editor 1221, and special effects1222.

The internal architecture functionality 1207 provides the higher levelsoftware logistics of the processes of the simulator 10 including, forexample, loading files, holding information, managing threads, turningthe physics model on, and triggering menus. The internal architecturefunctionality 1207 runs on the CPU 111, in accordance with an embodimentof the present invention. Certain real-time inputs to the logicprocessor-based subsystem 110 include arc location, gun position,face-mounted display device or helmet position, gun on/off state, andcontact made state (yes/no).

During a simulated welding scenario, the graphing functionality 1214gathers user performance parameters and provides the user performanceparameters to the graphical user interface functionality 1213 fordisplay in a graphical format (e.g., on the observer display device150). Tracking information from the spatial tracker 120 feeds into thegraphing functionality 1214. The graphing functionality 1214 includes asimple analysis module (SAM) and a whip/weave analysis module (WWAM).The SAM analyzes user welding parameters including welding travel angle,travel speed, weld angle, position, and tip to work by comparing thewelding parameters to data stored in bead tables. The WWAM analyzes userwhipping parameters including dime spacing, whip time, and puddle time.The WWAM also analyzes user weaving parameters including width of weave,weave spacing, and weave timing. The SAM and WWAM interpret raw inputdata (e.g., position and orientation data) into functionally usable datafor graphing. For each parameter analyzed by the SAM and the WWAM, atolerance window is defined by parameter limits around an optimum orideal set point input into bead tables using the tolerance editor 1221,and scoring and tolerance functionality 1220 is performed.

The tolerance editor 1221 includes a weldometer which approximatesmaterial usage, electrical usage, and welding time. Furthermore, whencertain parameters are out of tolerance, welding discontinuities (i.e.,welding defects) may occur. The state of any welding discontinuities areprocessed by the graphing functionality 1214 and presented via thegraphical user interface functionality 1213 in a graphical format. Suchwelding discontinuities include fillet size, poor bead placement,concave bead, excessive convexity, undercut, porosity, incompletefusion, slag entrapment, and excess spatter. In accordance with anembodiment of the present invention, the level or amount of adiscontinuity is dependent on how far away a particular user parameteris from the optimum or ideal set point.

Different parameter limits may be pre-defined for different types ofusers such as, for example, welding novices, welding experts, andpersons at a trade show. The scoring and tolerance functionality 1220provide number scores depending on how close to optimum (ideal) a useris for a particular parameter and depending on the level ofdiscontinuities or defects present in the weld. Information from thescoring and tolerance functionality 1220 and from the graphicsfunctionality 1214 may be used by the student reports functionality 1215to create a performance report for an instructor and/or a student.

Visual cues functionality 1219 provide immediate feedback to the user bydisplaying overlaid colors and indicators on the face mounted displaydevice 140 and/or the observer display device 150. Visual cues areprovided for each of the welding parameters 151 including position, tipto work, weld angle, travel angle, and travel speed and visuallyindicate to the user if some aspect of the user's welding techniqueshould be adjusted based on the predefined limits or tolerances. Visualcues may also be provided for whip/weave technique and weld bead “dime”spacing, for example.

In accordance with an embodiment of the present invention, simulation ofa weld puddle or pool in virtual reality space is accomplished where thesimulated weld puddle has real-time molten metal fluidity and heatdissipation characteristics. At the heart of the weld puddle simulationis the welding physics functionality 1211 (a.k.a., the physics model)which may be executed on the GPUs 115, in accordance with an embodimentof the present invention. The welding physics functionality employs adouble displacement layer technique to accurately model dynamicfluidity/viscosity, solidity, heat gradient (heat absorption anddissipation), puddle wake, and bead shape, and is described in moredetail herein with respect to FIG. 14a -14 c.

The welding physics functionality 1211 communicates with the beadrendering functionality 1217 to render a weld bead in all states fromthe heated molten state to the cooled solidified state. The beadrendering functionality 1217 uses information from the welding physicsfunctionality 1211 (e.g., heat, fluidity, displacement, dime spacing) toaccurately and realistically render a weld bead in virtual reality spacein real-time. The 3D textures functionality 1218 provides texture mapsto the bead rendering functionality 1217 to overlay additional textures(e.g., scorching, slag, grain) onto the simulated weld bead. Therenderer functionality 1216 is used to render various non-puddlespecific characteristics using information from the special effectsmodule 1222 including sparks, spatter, smoke, arc glow, fumes, andcertain discontinuities such as, for example, undercut and porosity.

The internal physics adjustment tool 1212 is a tweaking tool that allowsvarious welding physics parameters to be defined, updated, and modifiedfor the various welding processes. In accordance with an embodiment ofthe present invention, the internal physics adjustment tool 1212 runs onthe CPU 111, and the adjusted or updated parameters are downloaded tothe GPUs 115. The types of parameters that may be adjusted via theinternal physics adjustment tool 1212 include parameters related towelding coupons, process parameters that allow a process to be changedwithout having to reset a welding coupon (allows for doing a secondpass), various global parameters that can be changed without resettingthe entire simulation, and other various parameters.

FIG. 13 is a flow chart of an embodiment of a method 1300 of trainingusing the virtual reality training simulator 10. In step 1310, move amock welding tool with respect to a welding coupon in accordance with awelding technique. In step 1320, track position and orientation of themock welding tool in three-dimensional space using a virtual realitysystem. In step 1330, view a display of the virtual reality weldingsystem showing a real-time virtual reality simulation of the mockwelding tool and the welding coupon in a virtual reality space as thesimulated mock welding tool deposits a simulated weld bead material ontoat least one simulated surface of the simulated welding coupon byforming a simulated weld puddle in the vicinity of a simulated arcemitting from said simulated mock welding tool. In step 1340, view onthe display, real-time molten metal fluidity and heat dissipationcharacteristics of the simulated weld puddle. In step 1350, modify inreal-time, at least one aspect of the welding technique in response toviewing the real-time molten metal fluidity and heat dissipationcharacteristics of the simulated weld puddle.

The method 1300 illustrates how a user is able to view a weld puddle invirtual reality space and modify his welding technique in response toviewing various characteristics of the simulated weld puddle, includingreal-time molten metal fluidity (e.g., viscosity) and heat dissipation.The user may also view and respond to other characteristics includingreal-time puddle wake and dime spacing. Viewing and responding tocharacteristics of the weld puddle is how many welding operations areactually performed in the real world. The double displacement layermodeling of the welding physics functionality 1211 run on the GPUs 115allows for such real-time molten metal fluidity and heat dissipationcharacteristics to be accurately modeled and represented to the user.For example, heat dissipation determines solidification time (i.e., howmuch time it takes for a wexel to completely solidify).

Furthermore, a user may make a second pass over the weld bead materialusing the same or a different (e.g., a second) mock welding tool,welding electrode and/or welding process. In such a second passscenario, the simulation shows the simulated mock welding tool, thewelding coupon, and the original simulated weld bead material in virtualreality space as the simulated mock welding tool deposits a secondsimulated weld bead material merging with the first simulated weld beadmaterial by forming a second simulated weld puddle in the vicinity of asimulated arc emitting from the simulated mock welding tool. Additionalsubsequent passes using the same or different welding tools or processesmay be made in a similar manner. In any second or subsequent pass, theprevious weld bead material is merged with the new weld bead materialbeing deposited as a new weld puddle is formed in virtual reality spacefrom the combination of any of the previous weld bead material, the newweld bead material, and possibly the underlying coupon material inaccordance with certain embodiments of the present invention. Suchsubsequent passes may be performed to repair a weld bead formed by aprevious pass, for example, or may include a heat pass and one or moregap closing passes after a root pass as is done in pipe welding. Inaccordance with various embodiments of the present invention, base andweld bead material may be simulated to include mild steel, stainlesssteel, and aluminum.

In accordance with an embodiment of the present invention, welding withstainless steel materials is simulated in a real-time virtualenvironment. The base metal appearance is simulated to provide arealistic representation of a stainless steel weldment. Simulation ofthe visual effect is provided to change the visual spectrum of light toaccommodate the coloration of the arc. Realistic sound is also simulatedbased on proper work distance, ignition, and speed. The arc puddleappearance and deposition appearance are simulated based on the heataffected zone and the torch movement. Simulation of dross or brokenparticles of aluminum oxide or aluminum nitride films, which can bescattered throughout the weld bead, is provided. Calculations related tothe heating and cooling affected zones are tailored for stainless steelwelding. Discontinuity operations related to spatter are provided tomore closely and accurately simulate the appearance of stainless steelGMAW welding.

In accordance with an embodiment of the present invention, welding withaluminum materials is simulated in a real-time virtual environment. Thebead wake is simulated to closely match the appearance of the aluminumwelding to that seen in the real world. The base metal appearance issimulated to represent a realistic representation of an aluminumweldment. Simulation of the visual effect is provided to change thevisual spectrum of light to accommodate the coloration of the arc. Acalculation of lighting is provided to create reflectivity. Calculationsrelated to the heating and cooling affected zones are tailored foraluminum welding. Simulation of oxidation is provided to create arealistic “cleaning action”. Realistic sound is also simulated based onproper work distance, ignition, and speed. The arc puddle appearance anddeposition appearance are simulated based on the heat affected zone andthe torch movement. The appearance of the aluminum wire is simulated inthe GMAW torch to provide a realistic and proper appearance.

In accordance with an embodiment of the present invention, GTAW weldingis simulated in a real-time virtual environment. Simulation ofoperational parameters for GTAW welding are provided including, but notlimited to, flow rate, pulsing frequency, pulse width, arc voltagecontrol, AC balance, and output frequency control. Visual representationof the puddle “splash” or dipping technique and melt off of the weldingconsumable are also simulated. Furthermore, representations ofautogenous (no filler metal) and GTAW with filler metal weldingoperations in the welding puddle are rendered visually and audibly.Implementation of additional filler metal variations may be simulatedincluding, but not limited to, carbon steel, stainless steel, aluminum,and Chrome Moly. A selectable implementation of an external foot pedalmay be provided for operation while welding.

Engine for Modeling

FIGS. 14a-14b illustrate the concept of a welding element (wexel)displacement map 1420, in accordance with an embodiment of the presentinvention. FIG. 14a shows a side view of a flat welding coupon 1400having a flat top surface 1410. The welding coupon 1400 exists in thereal world as, for example, a plastic part, and also exists in virtualreality space as a simulated welding coupon. FIG. 14b shows arepresentation of the top surface 1410 of the simulated welding coupon1400 broken up into a grid or array of welding elements, termed “wexels”forming a wexel map 1420. Each wexel (e.g., wexel 1421) defines a smallportion of the surface 1410 of the welding coupon. The wexel map definesthe surface resolution. Changeable channel parameter values are assignedto each wexel, allowing values of each wexel to dynamically change inreal-time in virtual reality weld space during a simulated weldingprocess. The changeable channel parameter values correspond to thechannels Puddle (molten metal fluidity/viscosity displacement), Heat(heat absorption/dissipation), Displacement (solid displacement), andExtra (various extra states, e.g., slag, grain, scorching, virginmetal). These changeable channels are referred to herein as PHED forPuddle, Heat, Extra, and Displacement, respectively.

FIG. 15 illustrates an example embodiment of a coupon space and a weldspace of the flat welding coupon 1400 of FIG. 14 simulated in thesimulator 10 of FIGS. 1 and 2. Points O, X, Y, and Z define the local 3Dcoupon space. In general, each coupon type defines the mapping from 3Dcoupon space to 2D virtual reality weld space. The wexel map 1420 ofFIG. 14 is a two-dimensional array of values that map to weld space invirtual reality. A user is to weld from point B to point E as shown inFIG. 15. A trajectory line from point B to point E is shown in both 3Dcoupon space and 2D weld space in FIG. 15.

Each type of coupon defines the direction of displacement for eachlocation in the wexel map. For the flat welding coupon of FIG. 15, thedirection of displacement is the same at all locations in the wexel map(i.e., in the Z-direction). The texture coordinates of the wexel map areshown as S, T (sometimes called U, V) in both 3D coupon space and 2Dweld space, in order to clarify the mapping. The wexel map is mapped toand represents the rectangular surface 1410 of the welding coupon 1400.

FIG. 16 illustrates an example embodiment of a coupon space and a weldspace of a corner welding coupon 1600 simulated in the simulator 10. Thecorner welding coupon 1600 has two surfaces 1610 and 1620 in 3D couponspace that are mapped to 2D weld space as shown in FIG. 16. Again,points O, X, Y, and Z define the local 3D coupon space. The texturecoordinates of the wexel map are shown as S, T in both 3D coupon spaceand 2D weld space, in order to clarify the mapping. A user is to weldfrom point B to point E as shown in FIG. 16. A trajectory line frompoint B to point E is shown in both 3D coupon space and 2D weld space inFIG. 16. However, the direction of displacement is towards the lineX′-O′ as shown in the 3D coupon space, towards the opposite corner.

FIG. 17 illustrates an example embodiment of a coupon space and a weldspace of a pipe welding coupon 1700 simulated in the simulator 10. Thepipe welding coupon 1700 has a curved surface 1710 in 3D coupon spacethat is mapped to 2D weld space. Points O, X, Y, and Z once again definethe local 3D coupon space. The texture coordinates of the wexel map areshown as S, T in both 3D coupon space and 2D weld space, in order toclarify the mapping. An end user 12 is to weld from point B to point Ealong a curved trajectory as shown in FIG. 17. A trajectory curve andline from point B to point E is shown in 3D coupon space and 2D weldspace, respectively. The direction of displacement is away from the lineY-O (i.e., away from the center of the pipe). FIG. 18 illustrates anexample embodiment of the pipe welding coupon 1700 of FIG. 17. The pipewelding coupon 1700 is made of a non-ferric, non-conductive plastic andsimulates two pipe pieces 1701 and 1702 coming together to form a rootjoint 1703. An attachment piece 1704 for attaching to the arm 173 of thestand 170 is also shown.

In a similar manner that a texture map may be mapped to a rectangularsurface area of a geometry, a weldable wexel map may be mapped to arectangular surface of a welding coupon. Each element of the weldablemap is termed a wexel in the same sense that each element of a pictureis termed a pixel (a contraction of picture element). A pixel containschannels of information that define a color (e.g., red, green, blue,etc.). A wexel contains channels of information (e.g., P, H, E, D) thatdefine a weldable surface in virtual reality space.

In accordance with an embodiment of the present invention, the format ofa wexel is summarized as channels PHED (Puddle, Heat, Extra,Displacement) which contains four floating point numbers. The Extrachannel is treated as a set of bits which store logical informationabout the wexel such as, for example, whether or not there is any slagat the wexel location. The Puddle channel stores a displacement valuefor any liquefied metal at the wexel location. The Displacement channelstores a displacement value for the solidified metal at the wexellocation. The Heat channel stores a value giving the magnitude of heatat the wexel location. In this way, the weldable part of the coupon canshow displacement due to a welded bead, a shimmering surface “puddle”due to liquid metal, color due to heat, etc. All of these effects areachieved by the vertex and pixel shaders applied to the weldablesurface.

In accordance with an embodiment of the present invention, adisplacement map and a particle system are used where the particles caninteract with each other and collide with the displacement map. Theparticles are virtual dynamic fluid particles and provide the liquidbehavior of the weld puddle but are not rendered directly (i.e., are notvisually seen directly). Instead, only the particle effects on thedisplacement map are visually seen. Heat input to a wexel affects themovement of nearby particles. There are two types of displacementinvolved in simulating a welding puddle which include Puddle andDisplacement. Puddle is “temporary” and only lasts as long as there areparticles and heat present. Displacement is “permanent”. Puddledisplacement is the liquid metal of the weld which changes rapidly(e.g., shimmers) and can be thought of as being “on top” of theDisplacement. The particles overlay a portion of a virtual surfacedisplacement map (i.e., a wexel map). The Displacement represents thepermanent solid metal including both the initial base metal and the weldbead that has solidified.

In accordance with an embodiment of the present invention, the simulatedwelding process in virtual reality space works as follows: Particlesstream from the emitter (emitter of the simulated mock welding tool 160)in a thin cone. The particles make first contact with the surface of thesimulated welding coupon where the surface is defined by a wexel map.The particles interact with each other and the wexel map and build up inreal-time. More heat is added the nearer a wexel is to the emitter. Heatis modeled in dependence on distance from the arc point and the amountof time that heat is input from the arc. Certain visuals (e.g., color,etc.) are driven by the heat. A weld puddle is drawn or rendered invirtual reality space for wexels having enough heat. Wherever it is hotenough, the wexel map liquefies, causing the Puddle displacement to“raise up” for those wexel locations. Puddle displacement is determinedby sampling the “highest” particles at each wexel location. As theemitter moves on along the weld trajectory, the wexel locations leftbehind cool. Heat is removed from a wexel location at a particular rate.When a cooling threshold is reached, the wexel map solidifies. As such,the Puddle displacement is gradually converted to Displacement (i.e., asolidified bead). Displacement added is equivalent to Puddle removedsuch that the overall height does not change. Particle lifetimes aretweaked or adjusted to persist until solidification is complete. Certainparticle properties that are modeled in the simulator 10 includeattraction/repulsion, velocity (related to heat), dampening (related toheat dissipation), direction (related to gravity).

FIGS. 19a-19c illustrate an example embodiment of the concept of adual-displacement (displacement and particles) puddle model of thesimulator 10. Welding coupons are simulated in virtual reality spacehaving at least one surface. The surfaces of the welding coupon aresimulated in virtual reality space as a double displacement layerincluding a solid displacement layer and a puddle displacement layer.The puddle displacement layer is capable of modifying the soliddisplacement layer.

As described herein, “puddle” is defined by an area of the wexel mapwhere the Puddle value has been raised up by the presence of particles.The sampling process is represented in FIGS. 19a-19c . A section of awexel map is shown having seven adjacent wexels. The currentDisplacement values are represented by un-shaded rectangular bars 1910of a given height (i.e., a given displacement for each wexel). In FIG.19a , the particles 1920 are shown as round un-shaded dots collidingwith the current Displacement levels and are piled up. In FIG. 19b , the“highest” particle heights 1930 are sampled at each wexel location. InFIG. 19c , the shaded rectangles 1940 show how much Puddle has beenadded on top of the Displacement as a result of the particles. The weldpuddle height is not instantly set to the sampled values since Puddle isadded at a particular liquification rate based on Heat. Although notshown in FIGS. 19a-19c , it is possible to visualize the solidificationprocess as the Puddle (shaded rectangles) gradually shrink and theDisplacement (un-shaded rectangles) gradually grow from below to exactlytake the place of the Puddle. In this manner, real-time molten metalfluidity characteristics are accurately simulated. As a user practices aparticular welding process, the user is able to observe the molten metalfluidity characteristics and the heat dissipation characteristics of theweld puddle in real-time in virtual reality space and use thisinformation to adjust or maintain his welding technique.

The number of wexels representing the surface of a welding coupon isfixed. Furthermore, the puddle particles that are generated by thesimulation to model fluidity are temporary, as described herein.Therefore, once an initial puddle is generated in virtual reality spaceduring a simulated welding process using the simulator 10, the number ofwexels plus puddle particles tends to remain relatively constant. Thisis because the number of wexels that are being processed is fixed andthe number of puddle particles that exist and are being processed duringthe welding process tend to remain relatively constant because puddleparticles are being created and “destroyed” at a similar rate (i.e., thepuddle particles are temporary). Therefore, the processing load of thelogic processor-based subsystem 110 remains relatively constant during asimulated welding session.

In accordance with an alternate embodiment of the present invention,puddle particles may be generated within or below the surface of thewelding coupon. In such an embodiment, displacement may be modeled asbeing positive or negative with respect to the original surfacedisplacement of a virgin (i.e., un-welded) coupon. In this manner,puddle particles may not only build up on the surface of a weldingcoupon, but may also penetrate the welding coupon. However, the numberof wexels is still fixed and the puddle particles being created anddestroyed is still relatively constant.

In accordance with alternate embodiments of the present invention,instead of modeling particles, a wexel displacement map may be providedhaving more channels to model the fluidity of the puddle. Or, instead ofmodeling particles, a dense voxel map may be modeled. Or, instead of awexel map, only particles may be modeled which are sampled and never goaway. Such alternative embodiments may not provide a relatively constantprocessing load for the system, however.

Furthermore, in accordance with an embodiment of the present invention,blowthrough or a keyhole is simulated by taking material away. Forexample, if a user keeps an arc in the same location for too long, inthe real world, the material would burn away causing a hole. Suchreal-world burnthrough is simulated in the simulator 10 by wexeldecimation techniques. If the amount of heat absorbed by a wexel isdetermined to be too high by the simulator 10, that wexel may be flaggedor designated as being burned away and rendered as such (e.g., renderedas a hole). Subsequently, however, wexel re-constitution may occur forcertain welding process (e.g., pipe welding) where material is addedback after being initially burned away. In general, the simulator 10simulates wexel decimation (taking material away) and wexelreconstitution (i.e., adding material back).

Furthermore, removing material in root-pass welding is properlysimulated in the simulator 10. For example, in the real world, grindingof the root pass may be performed prior to subsequent welding passes.Similarly, simulator 10 may simulate a grinding pass that removesmaterial from the virtual weld joint. It will be appreciated that thematerial removed is modeled as a negative displacement on the wexel map.That is to say that the grinding pass removes material that is modeledby the simulator 10 resulting in an altered bead contour. Simulation ofthe grinding pass may be automatic, which is to say that the simulator10 removes a predetermined thickness of material, which may berespective to the surface of the root pass weld bead. In an alternateembodiment, an actual grinding tool, or grinder, may be simulated thatturns on and off by activation of the mock welding tool 160 or anotherinput device. It is noted that the grinding tool may be simulated toresemble a real world grinder. In this embodiment, the user maneuversthe grinding tool along the root pass to remove material responsive tothe movement thereof. It will be understood that the user may be allowedto remove too much material. In a manner similar to that describedabove, holes or keyholes, or other defects (described above) may resultif the user “grinds away” to much material. Still, hard limits or stopsmay be implemented, i.e. programmed, to prevent the user from removingto much material or indicate when too much material is being removed.

In addition to the non-visible “puddle” particles described herein, thesimulator 10 also uses three other types of visible particles torepresent Arc, Flame, and Spark effects, in accordance with anembodiment of the present invention. These types of particles do notinteract with other particles of any type but interact only with thedisplacement map. While these particles do collide with the simulatedweld surface, they do not interact with each other. Only Puddleparticles interact with each other, in accordance with an embodiment ofthe present invention. The physics of the Spark particles is setup suchthat the Spark particles bounce around and are rendered as glowing dotsin virtual reality space.

The physics of the Arc particles is setup such that the Arc particleshit the surface of the simulated coupon or weld bead and stay for awhile. The Arc particles are rendered as larger dim bluish-white spotsin virtual reality space. It takes many such spots superimposed to formany sort of visual image. The end result is a white glowing nimbus withblue edges.

The physics of the Flame particles is modeled to slowly raise upward.The Flame particles are rendered as medium sized dim red-yellow spots.It takes many such spots superimposed to form any sort of visual image.The end result is blobs of orange-red flames with red edges raisingupward and fading out. Other types of non-puddle particles may beimplemented in the simulator 10, in accordance with other embodiments ofthe present invention. For example, smoke particles may be modeled andsimulated in a similar manner to flame particles.

The final steps in the simulated visualization are handled by the vertexand pixel shaders provided by the shaders 117 of the GPUs 115. Thevertex and pixel shaders apply Puddle and Displacement, as well assurface colors and reflectivity altered due to heat, etc. The Extra (E)channel of the PHED wexel format, as discussed earlier herein, containsall of the extra information used per wexel. In accordance with anembodiment of the present invention, the extra information includes anon virgin bit (true=bead, false=virgin steel), a slag bit, an undercutvalue (amount of undercut at this wexel where zero equals no undercut),a porosity value (amount of porosity at this wexel where zero equals noporosity), and a bead wake value which encodes the time at which thebead solidifies. There are a set of image maps associated with differentcoupon visuals including virgin steel, slag, bead, and porosity. Theseimage maps are used both for bump mapping and texture mapping. Theamount of blending of these image maps is controlled by the variousflags and values described herein.

A bead wake effect is achieved using a 1D image map and a per wexel beadwake value that encodes the time at which a given bit of bead issolidified. Once a hot puddle wexel location is no longer hot enough tobe called “puddle”, a time is saved at that location and is called “beadwake”. The end result is that the shader code is able to use the 1Dtexture map to draw the “ripples” that give a bead its unique appearancewhich portrays the direction in which the bead was laid down. Inaccordance with an alternative embodiment of the present invention, thesimulator 10 is capable of simulating, in virtual reality space, anddisplaying a weld bead having a real-time weld bead wake characteristicresulting from a real-time fluidity-to-solidification transition of thesimulated weld puddle, as the simulated weld puddle is moved along aweld trajectory.

In accordance with an alternative embodiment of the present invention,the simulator 10 is capable of teaching a user how to troubleshoot awelding machine. For example, a troubleshooting mode of the system maytrain a user to make sure he sets up the system correctly (e.g., correctgas flow rate, correct power cord connected, etc.) In accordance withanother alternate embodiment of the present invention, the simulator 10is capable of recording and playing back a welding session (or at leasta portion of a welding session, for example, N frames). A track ball maybe provided to scroll through frames of video, allowing a user orinstructor to critique a welding session. Playback may be provided atselectable speeds as well (e.g., full speed, half speed, quarter speed).In accordance with an embodiment of the present invention, asplit-screen playback may be provided, allowing two welding sessions tobe viewed side-by-side, for example, on the observer display device 150.For example, a “good” welding session may be viewed next to a “poor”welding session for comparison purposes.

Automated welding is also an aspect of the present invention. Oneillustrative example of automated welding is orbital welding, which isoften used for the joining of tubes or pipes of various types ofmaterials. For example, a TIG (GTAW) welding torch may be used to orbitaround the pipes to be welded together by an automated mechanicalsystem. FIG. 20 illustrates an example embodiment of an orbital weldingsystem as used in an orbital welding environment. An orbital weldingsystem includes a welding tractor that travels around the pipes ortubes, a welding power source and controller, and a pendant providingoperator control. FIG. 21 shows the welding tractor 2010 of the orbitalwelding system of FIG. 20, as operably connected to two pipes to bewelded. FIG. 22 shows a power source and controller 2020 of the orbitalwelding system of FIG. 20, and FIG. 23 shows a pendant 2030 of theorbital welding system of FIG. 20.

While the above discussion has focused on the virtual reality simulationof processes, which include orbital welding, embodiments of theinvention are not limited to that aspect and includes teaching andfeedback aspects of the actual setup and performance characteristicsassociated with welds made in accordance with a user-defined setup. Asdiscussed above, GTAW/GMAW welding requires training to ensure that theoperator understands the controls which are available for the practiceof this process. There is a misconception that automation associatedwith orbital welding systems eliminates the need for training, since themachine is doing the welding. Automated orbital welding requirestraining to ensure the operator understands welding, and all of theunique setup and implementation skills for controlling TIG beads. Thisincludes error correction, larger diameter pipe welding, the utilizationof remote cameras, and proper error assessment and correction. Trainingprograms offer inconsistent or insufficient coverage of teaching a goodweld situation, a bad weld situation and the mechanisms to perform,react to or correct each. Instructors for this type of niche solutionare hard to find with sufficient background and/or industry knowledgeand experience. Only through quality training taught by certifiedinstructors can operators of orbital welding equipment gain the complexskills needed to meet the strict acceptance criteria in today's weldingenvironment. Additionally, on large circumference projects with longweld joints, the difficulty of maintaining attention and focusrepresents a significant problem.

In the GTAW process, an electric arc is maintained between thenon-consumable tungsten electrode and the workpiece. The electrodesupports the heat of the arc and the metal of the workpiece melts andforms the weld puddle. The molten metal of the workpiece and theelectrode must be protected against oxygen in the atmosphere, therebytypically employing an inert gas such as argon as the shielding gas. Ifthe addition of a filler metal is used, the filler wire can be fed tothe weld puddle, where it melts due to the energy delivered by theelectric arc. In accordance with one embodiment of the invention, avirtual reality welding system is provided that incorporates technologyrelated to viewing a GTAW/GMAW automated welding operation, using apendant (actual or virtual) or remote control as it relates to automatedwelding, identifying welding discontinuities based upon chosen weldingparameter combinations, and correcting operator selections andcombinations of parameters through the use of user screens to understandthe interaction of various parameters and their impact on weld qualitywith proper terminology and visual elements related to automatedwelding.

By implementing orbital GTAW training in a virtual environment, a numberof issues may be addressed. For example, industry and experience inorbital welding is based on the knowledge of the development company andtherefore is consistent and updated to the latest technology andstandards available, which is easily done by software upgrade in avirtual environment. The instructor becomes a facilitator to the programand does not need to be an orbital GTAW expert. Additional trainingaids, such as path following cues or visual overlays, improve transferof training in a virtual environment. Orbital GTAW equipment, that canbecome outdated, does not need to be purchased. The virtual realitysystem can be used in a one-on-one training environment or a classroomtype of setting.

The use of a virtual framework allows multiple pendants to be simulatedwith one training device. In implementing orbital GTAW in virtualreality, a pendant can be made as a physical device or as a virtualpendant. With the physical device, the student is able to interact withthe controls and get the “feel” for the control. With a virtual pendant,where the controls are available and interacted with on a touch screen,the user can easily choose a variety of pendants for control, whetherthey are customized or company dependant. A virtual pendant also allowsfor different types of controls or levels to be enabled for use by thestudent depending on learning levels or controls available based ontheir industry level (mirroring field work experience). Unliketraditional training, randomized faults (e.g. wire nesting) can beimplemented that provide the user a more detailed and completeexperience without damage to the equipment or time-consuming setup.

Part of the learning interaction is the understanding of proper weldingparameters based on the joint, preparation, material type, etc. Inaccordance with an embodiment, in virtual reality, theory enabledscreens can be enabled to prompt a user with knowledge as to the properchoice to make. Additional screens or tables can be enabled to prompt auser with knowledge of what to input, but can also be enabled when awrong choice is selected to highlight what was chosen and why it wasincorrect, with the proper selections identified. This type ofintelligent agent can ensure that the student does not performincorrectly and become frustrated by the end result, positivereinforcement and learning being the key. An embodiment of the inventionwill also allow for the system or instructor to quiz user's knowledgeand adapt the training curriculum and testing to the individual user'sblind spots. An embodiment of the present invention employs artificialintelligence (AI) and a learning management system (LMS) to help withinstruction in needed areas, reinforce knowledge, and provide learningassistance.

Setup parameters may include, but are not limited to: inert gas (e.g.,Argon, Helium); arc ignition; welding current (e.g., pulsed vs.unpulsed); downslope functionality to avoid cratering at the end of theweld; torch rotation travel speed; wire feed characteristics (e.g.,pulsed waveforms); wire diameter selection; arc voltage; distancebetween electrode and workpiece; welding oscillation control; remotecontrol; cooling characteristics of the generally integrated closed-loopwater cooling circuit; and weld cycle programming (often with fouraxes), etc.

Inspection and review of the weld is another aspect to the learningprocess. The student can view the weld and identify what is correct orwrong and, based on these choices, receive a score to identify whetherthey were right and further receive input on what is right or wrongbased on industry standards. This can be enhanced further to identifyhow to correct these situations. For instance, with the correct amperageand speed (identified), the weld may be a good weld based on aparticular industry standard.

As described above, a physical teach pendant or a hand-held controldevice for input selection in virtual reality welding may be provided.Alternatively, a virtual teach pendant device for control inputselection for virtual reality welding may be provided. Interactions withthe handheld or virtual device that are student learning level orindustry role dependant that can be enabled on the device. Restrictingcontrols or interactions based on the user may be provided to enhancelearning objectives or reinforce industry role interactions, inaccordance with an embodiment.

Teaching interaction or reactions based on visual, audible, or physicalchanges may be provided to ensure the user knows the proper set-up orerror recovery. Also, teaching interaction or reactions based on visual,audible, or physical changes may be provided to ensure the user knowsthe proper changes in controls needed based on environmental or weldspecific changes being made. Virtual calculators or tables may beenabled that allow input and provide an output based on values entered.Intelligent agent enabled results based on incorrect set-up parametersor choices may be provided to reinforce correct industry standards.Furthermore, intelligent agent enabled input to identify what the propercontrols input should have been may be provided, based on the currentvisual, audio or physical indicators. In accordance with an embodiment,the simulation of camera based systems may be provided along with thecreation of path following and path determinative systems based upon afuzzy logic controller based system. For example, multiple renderingsmay be provided by simulating two camera views such that the cameraviews may be moved during the simulation. In accordance with anembodiment, an alarm may sound when the desired path is deviated from,based on the fuzzy logic, for example. Visualization of a simulated TIGweld puddle may be provided via pixel sizes that are small enough toprovided proper visualization of the TIG weld puddle. Simulation of themagnification of the simulated TIG weld puddle may also be provided, forbetter visualization by the user.

Multiple levels of experience for the user that adapt to the skilllevel, learning pace and learning style of the user (LMS compatible) maybe provided. Artificial intelligence (AI) based fault induction may alsobe provided in order to test the user's ability to detect, correct andrecover from problems. The simulation of unsafe conditions, machinesetup, and materials defects may be provided. Also, a multi-languagecapable system may be provided, allowing for harmonization of trainingfor a global marketplace, in accordance with an embodiment. Anembodiment of the present invention may provide a virtual simulationenvironment allowing two or more users (multi-man) to create a virtualweld, such as in certain orbital welding scenarios.

In summary, disclosed is a real-time virtual reality welding systemincluding a programmable processor-based subsystem, a spatial trackeroperatively connected to the programmable processor-based subsystem, atleast one mock welding tool capable of being spatially tracked by thespatial tracker, and at least one display device operatively connectedto the programmable processor-based subsystem. The system is capable ofsimulating, in virtual reality space, a weld puddle having real-timemolten metal fluidity and heat dissipation characteristics. The systemis further capable of displaying the simulated weld puddle on thedisplay device in real-time.

The invention has been described herein with reference to the disclosedembodiments. Obviously, modifications and alterations will occur toothers upon a reading and understanding of this specification. It isintended to include all such modifications and alterations insofar asthey come within the scope of the appended claims or the equivalencethereof.

The invention claimed is:
 1. A simulator for facilitating simulatedwelding activity in a simulated environment, comprising: a logicprocessor based subsystem operable to execute coded instructions forgenerating an interactive simulation of an orbital welding environmentthat emulates an orbital welding system having a welding tractorconfigured to travel around a section of simulated pipe and weldingoperation with the orbital welding system on the section of simulatedpipe having at least one simulated weld joint; a display deviceoperatively connected to the logic processor based subsystem forvisually depicting the simulation of the orbital welding environment,wherein said display device is configured to depict at least the sectionof simulated pipe having the at least one simulated weld joint; and apendant for interactively performing setup of the orbital welding systemand the welding operation with the orbital welding system on the atleast one simulated weld joint in real time.
 2. The simulator of claim1, wherein the pendant emulates controls for input for welding with theorbital welding system.
 3. The simulator of claim 2, wherein the logicprocessor based subsystem is further operable to execute codedinstructions for restricting controls or interactions based on a user toenhance learning objectives.
 4. The simulator of claim 3, wherein thelogic processor based subsystem is further operable to execute codedinstructions for teaching interaction or reactions through generation ofvisual, audible, or physical changes within the simulation of theorbital welding environment to ensure that said user can properly setupthe orbital welding environment or can effect error recovery.
 5. Thesimulator of claim 4, wherein the logic processor based subsystem isfurther operable to execute coded instructions for utilizing simulatedcalculators or tables for input of values and providing an output basedon entered values.
 6. The simulator of claim 4, wherein the logicprocessor based subsystem is further operable to execute codedinstructions for generating intelligent agent-enabled results based onincorrect setup parameters or combination of parameters.
 7. Thesimulator of claim 6, wherein the logic processor based subsystem isfurther operable to execute coded instructions for identifying, based onintelligent agent-enabled input, proper setup parameters or combinationof parameters which should have been entered.
 8. The simulator of claim7, wherein the intelligent agent-enabled input of the setup parametersor combination of parameters is based on visual, audio or physicalindicators of the setup parameters or combination of parameters.
 9. Thesimulator of claim 1, wherein the logic processor based subsystem isfurther operable to execute coded instructions implementing a camerasystem to determine a portion of the orbital welding environmentdepicted by the display device.
 10. The simulator of claim 9, whereinthe camera system includes a fuzzy logic controller-based systemimplementing path-following and path-determinative systems.
 11. Thesimulator of claim 1, wherein the logic processor based subsystem isfurther operable to execute coded instructions for generating theinteractive simulation of an orbital welding environment having multiplelevels for users, wherein each respective levels correspond to a skilllevel, a learning pace, and a learning style.
 12. The simulator of claim1, wherein the logic processor based subsystem is further operable toexecute coded instructions introducing problems in the interactive,simulation of an orbital welding environment, via artificialintelligence techniques, to test a user's ability to detect, correct andrecover from the problems.
 13. The simulator of claim 12, wherein theproblems introduced in the simulation of the orbital welding environmentinclude unsafe conditions for setup of the orbital welding system anddefects in materials.
 14. The simulator of claim 1, wherein the logicprocessor based subsystem is further operable to execute codedinstructions for generating interactive simulation of an orbital weldingenvironment with multiple languages.
 15. A simulator for facilitatingsimulated welding activity in a simulated environment, comprising: alogic processor based subsystem operable to execute coded instructionsfor: generating an interactive simulation of an orbital weldingenvironment that emulates an orbital welding system having a weldingtractor configured to travel around a section of simulated pipe andwelding operation with the orbital welding system on the section ofsimulated pipe having at least one simulated weld joint, generatingvisual, audible, physical changes within the simulation of the orbitalwelding environment to test setup of the orbital welding environment orerror recovery, utilizing simulated calculators or tables that acceptinput of values and provide an output based on entered values, andgenerating intelligent agent-enabled results based on incorrect setupparameters or combination of parameters; display device operativelyconnected to the logic processor based subsystem for visually depictingthe interactive, simulation of the orbital welding environment, whereinsaid display device is configured to depict at least the section ofsimulated pipe having the at least one simulated weld joint; and apendant, that emulates controls for input for the orbital weldingsystem, for interactively performing setup of the orbital welding systemor the welding operation with the orbital welding system on the at leastone simulated weld joint in real time.
 16. The simulator of claim 15,wherein the logic processor based subsystem is further operable toexecute coded instructions for identifying, based on intelligentagent-enabled input, proper setup parameters or combination ofparameters which should have been entered.
 17. The simulator of claim16, wherein the intelligent agent-enabled input of the setup parametersor combination of parameters is based on visual, audio or physicalindicators of the setup parameters or combination of parameters.
 18. Thesimulator of claim 15, wherein the logic processor based subsystem isfurther operable to execute coded instructions implementing a camerasystem to determine a portion of the orbital welding environmentdepicted by the display device.
 19. The simulator of claim 18, whereinthe camera system includes a fuzzy logic controller-based systemimplementing path-following and path-determinative systems.
 20. Thesimulator of claim 15, wherein the logic processor based subsystem isfurther operable to execute coded instructions for generating theinteractive simulation of an orbital welding environment having multiplelevels for users, wherein each respective levels correspond to a skilllevel, a learning pace, and a learning style.
 21. The simulator of claim15, wherein the logic processor based subsystem is further operable toexecute coded instructions introducing problems in the interactivesimulation of an orbital welding environment, via artificialintelligence techniques, to test a user's ability to detect, correct andrecover from the problems.
 22. The simulator of claim 21, wherein theproblems introduced in the simulation of the orbital welding environmentinclude unsafe conditions for setup of the orbital welding system anddefects in materials.
 23. The simulator of claim 15, wherein the logicprocessor based subsystem is further operable to execute codedinstructions for generating the interactive simulation of an orbitalwelding environment with multiple languages.
 24. A method forfacilitating simulated welding activity in a simulated environment,comprising: generating an interactive simulation of an orbital weldingenvironment that emulates an orbital welding system having a weldingtractor configured to travel around a section of simulated pipe and awelding operation with the orbital welding system on the section ofsimulated pipe, the section of simulated pipe having at least onesimulated weld joint; displaying the simulation of the orbital weldingenvironment, including depicting at least the section of simulated pipehaving the at least one simulated weld joint, on a display device; andallowing, with a use of a pendant, at least one of setting up of theorbital welding system and performing the welding operation with theorbital welding system on the at least one simulated weld joint in realtime.
 25. The method of claim 24, wherein the pendant emulates inputcontrols for the orbital welding system.
 26. The method of claim 25,further comprising: restricting controls or interactions within thesimulation the orbital welding environment based on a user to enhancelearning objectives.
 27. The method of claim 26, further comprising:teaching interaction or reactions through generation of visual, audible,or physical changes within the simulation of the orbital weldingenvironment to ensure that said user can at least one of properly setupthe orbital welding environment and effect error recovery.
 28. Themethod of claim 27, further comprising: utilizing simulated calculatorsor tables for input of values; and providing an output based on theinputted values.
 29. The method of claim 27, further comprising:generating intelligent agent enabled results based on incorrect setupparameters or incorrect combination of parameters.
 30. The method ofclaim 29, further comprising: identifying, based on intelligentagent-enabled input, proper parameters corresponding to what should havebeen entered for at least one of setup parameters and a combination ofentered parameters.
 31. The method of claim 30, wherein the intelligentagent-enabled input identifies the proper parameters for the at leastone of setup parameters or combination of entered parameters based onvisual, audio or physical indicators.
 32. The method of claim 24,further comprising: simulating a camera system to track a simulatedorbital weld in the simulated orbital welding environment.
 33. Themethod of claim 32, wherein the simulated camera system includespath-following and path-determinative systems.
 34. The method of claim24, wherein the interactive simulation of an orbital welding environmentincludes multiple levels corresponding to a skill level of a user. 35.The method of claim 24, further comprising: introducing problems in theinteractive simulation of an orbital welding environment, via artificialintelligence techniques, to test a user's ability to detect, correct andrecover from problems.
 36. The method of claim 35, wherein the problemsintroduced in the simulation of the orbital welding environment includeunsafe conditions for setup of the orbital welding system and defects inmaterials.
 37. The method of claim 24, wherein the interactivesimulation of an orbital welding environment comprises multi-languagecapabilities with multiple languages.